WO2020138731A1

WO2020138731A1 - Em sensor-based otolaryngology and neurosurgery medical training simulator and method

Info

Publication number: WO2020138731A1
Application number: PCT/KR2019/016398
Authority: WO
Inventors: 김현문; 임종화; 박용택; 반재경; 김도현; 김성원
Original assignee: 경북대학교 산학협력단; 가톨릭대학교 산학협력단
Priority date: 2018-12-27
Filing date: 2019-11-26
Publication date: 2020-07-02

Abstract

The present invention may provide a medical training simulator comprising: a human body model unit which has an external shape following the human body and has therein an EM transmission module for transmitting an EM signal; an endoscope unit which has an external shape composed of an elongated rod inserted into the human body model unit and a handle, and receives the EM signal to generate and output motion information about the end of the rod; a display device which displays video information corresponding to the motion information, and presents the video information to trainees; a memory unit which stores the video information corresponding to the motion information about the endoscope unit; and a control device which reads, from the memory unit, the video information corresponding to the endoscope motion information obtained by receiving and processing the EM signal from the endoscope unit, and outputs the video information through the display device.

Description

EM sensor based otolaryngology and neurosurgery medical practice simulator and method

The present invention relates to a medical practice simulator, and more specifically, the position and angle of the endoscope, the rotational direction, the amount of rotation, etc. required in the course of surgery while examining the organs inside the human body by introducing the endoscope into a narrow space inside the human body. It relates to a simulator and method for medical practice to master the medical technology for manipulating the movement of the delicate.

Currently, the spread of examinations and procedures using endoscopes in the medical field is expanding, because endoscopic examinations and procedures with the advantage of non-invasiveness reduce the risk of patients and save time and money, among other things. However, due to the narrow vision and limited movement of the endoscope, the procedure requires high technical proficiency.

Currently, internal medicine practitioners first learn how to operate an endoscope, and then master the expertise of an endoscope by directly practicing on a patient under the supervision of a specialist who has mastered the technique. However, if the practitioners practice directly on the patient, the risk to the patient is high, and there are many differences in the operation time depending on the skill level. It is necessary to develop a fire extinguisher endoscopic training simulator that can acquire procedures.

In the conventional medical field, virtual reality is mostly visual elements that rely on 3D images. As an example, the Harvard Medical School team in the United States constructs a 3D virtual model from a computer tomography (CT) search photo, and a virtual reality training simulator that allows doctors to practice in this 3D virtual model before surgery. The team at the Mayo Hospital in Minnesota, USA, diagnosed colorectal cancer using a 3D colon model reconstructed on a computer after tomography of the patient's large intestine, and enabled virtual practice prior to actual surgery.

However, in the medical field, many procedures are performed using the fine sensation of the hand, so in order to realize such a task in virtual reality, not only visual elements but also sensation and touch must be reproduced.

Recently, with the development of haptic devices and interface technologies, examples of constructing medical training simulators using commercial haptic devices such as PHANToM developed by Massachusetts Institute of Technology (MIT) in 1993 or Impulse Engine of Immersion are increasing.

The Mitsubishi Electric Research Institute developed a knee surgical surgery simulator using PHANToM and a three-dimensional virtual model of the knee constructed from MRI (Magnetic Resonance Imaging) images, and the KAIST (Korea Advanced Institute of Science and Technology) Medical Imaging Research Center A simulator for simulating spinal cord biopsy using PHANToM was developed.

However, the conventional commercial haptic device developed for general use has a limitation in application to a medical training simulator that requires a specialized function according to a specific procedure object, and thus it is necessary to develop a haptic device specialized for a target medical task.

Such technology has been published in the Korean Patent Office No. 10-2006-0030594 published by the name of a haptic device for a fire extinguisher endoscope training simulator, which allows a haptic device for a fire extinguisher endoscope training simulator to have a support portion and a linear movement to the support portion. It is installed, and one end of the endoscope tube is fixed on one side, and provides a linear motion information of the endoscope tube according to the user's manipulation to the controller of the digestive endoscope training simulator, and delivers a sense of backlash and touch to the user through the endoscope tube. And, it is rotatably fixed to the linear movement portion to enable the rotational movement of the endoscope tube, providing the rotational direction of the rotational motion information of the endoscope tube according to the user's operation to the controller of the fire extinguisher endoscope training simulator and accordingly sense of sensation and touch Disclosed is a haptic device comprising a roll rotating motion part that delivers a to a user through the endoscope tube.

And, there is a patent publication No. 10-2009-0066453 to the Republic of Korea Patent Office under the name of a haptic device for simulating a fire extinguisher, which is a support part having a support base plate, and is capable of pivoting about the support base plate and the endoscope tube on one side. Once fixed, a linear motion simulation unit that provides curved motion information of the endoscope tube according to the user's manipulation to the control unit of the extinguisher endoscope simulator and transmits the reaction force to the user through the endoscope tube, and rotation of the endoscope tube Rotation is fixed to the linear motion simulating unit so that movement is possible, and information on the rotational movement of the endoscope tube according to the user's manipulation is provided to the control unit and the reaction force is transmitted to the user through the endoscope tube. Disclosed is a circular haptic device for endoscopic simulation of a fire extinguisher that includes a roll rotation motion simulator.

As described above, various techniques have been proposed in the prior art in which haptic devices enable medical practice by simulating the sense of reversal or tactile sensation according to the shape of the human body.

However, in the prior art, it is only a simulation of the process for introducing an endoscope tube for a long-formed organ, such as a digestive system, so that the otolaryngology and the brain need to be operated while viewing the inside of the nasal cavity by introducing it into the narrow nasal cavity. There was a problem that it was difficult to apply the same to medical practice for neurosurgery surgery in which an endoscope was introduced into the spinal cord and the like.

Therefore, by introducing the endoscope into a narrow space inside the human body, while examining the organs inside the human body, it is necessary to master medical techniques for delicately manipulating movements such as the position and angle of the endoscope, the rotation direction, and the amount of rotation required during surgery. The simulation technology for medical practice was desperately desired.

The present invention is skilled in medical technology for delicately manipulating movements such as the position and angle of the endoscope, the rotation direction, and the amount of rotation, which are required in the course of surgery while viewing the organs inside the human body by introducing the endoscope into a narrow space inside the human body. An object of the present invention is to provide a simulator and method for medical practice.

Medical practice simulator according to the present invention for achieving the above object, the human body model unit having an external shape to follow the human body and equipped with an EM transmission module for transmitting an EM signal therein; An endoscope having an outer shape of a long rod and a handle inserted into the human body model, and receiving the EM signal to generate and output motion information of the end of the rod; A display device that displays image information corresponding to the motion information and guides the trainee; A memory unit for storing image information according to the motion information of the endoscope; And a control device that receives and processes an EM signal from the endoscope unit and reads image information corresponding to the motion information of the endoscope obtained from the endoscope unit and outputs it through the display device.

The present invention described above is a medical technology for delicately manipulating movements such as the position and angle of the endoscope, the rotation direction, the amount of rotation, etc., required in the course of surgery while viewing the organs inside the human body by introducing the endoscope into a narrow space inside the human body It has the advantage of being skilled.

1 is a block diagram of an otolaryngology and neurosurgery medical practice simulator according to a preferred embodiment of the present invention.

2 is a configuration diagram of the EM signal processing unit of FIG. 1;

3 and 4 is an external view of the otolaryngology and neurosurgery medical practice simulator according to a preferred embodiment of the present invention.

Figure 5 is a procedure diagram of the otolaryngology and neurosurgery medical practice simulation method according to a preferred embodiment of the present invention.

The present invention allows the skilled person to master medical technology for delicately manipulating the position and angle, rotation direction, and rotation amount of the endoscope, which is required in the course of surgery while viewing the organs inside the human body by introducing the endoscope into a narrow space inside the human body. do.

Hereinafter, the configuration and operation of the otolaryngology and neurosurgery medical practice simulator according to the preferred embodiment of the present invention will be described in detail with reference to the drawings.

1 is a diagram showing the configuration of an otolaryngology and neurosurgery medical practice simulator according to a preferred embodiment of the present invention, Figure 2 is a configuration diagram of the EM signal processing unit of Figure 1, Figures 3 to 4 are preferred embodiments of the present invention It shows the appearance of an otolaryngology and neurosurgery medical practice simulator according to an example.

The otolaryngology and neurosurgery medical practice simulator described above is based on an EM (Electro-Magnetic) sensor, the control device 100, the memory unit 102, the display device 104, and the user interface unit 106 for the main body And, an endoscope portion 108 and a human body model portion 116.

The control device 100, the memory unit 102, and the user interface unit 106 for the main body are accommodated in the housing 150 for the main body, and the housing 150 for the main body is in the form of a hexahedron to mount the patient in the operating room. It is formed to correspond to the height, and the human body model part 116 and the endoscope part 108 are located on the upper surface of the housing 150 for the main body, and the display device 104 is located on one side.

The control device 100 controls the parts of the otorhinolaryngology and neurosurgery medical practice simulator as a whole, and performs EM signal processing for otolaryngology and neurosurgery medical practice according to a preferred embodiment of the present invention.

The memory unit 102 stores various information including the processing program of the control device 100, and in particular stores image information for otolaryngology and neurosurgery medical practice according to a preferred embodiment of the present invention. In particular, the image information is stored corresponding to the position and angle of the endoscope, the rotation direction, and the rotation amount.

The display device 104 outputs image information under the control of the control device 100 and guides the trainee.

The user interface unit 106 for the main body receives various user commands such as power on/off and restart and provides them to the control device 100.

At this time, the otorhinolaryngology and neurosurgery medical practice simulator according to the present invention may be configured in a dual manner in which the EM transmission module 118 and the EM receiving module 110 are separated based on an EM (Electro-Magnetic) sensor. In addition, the EM transmission module 118 forms a constant amount of magnetic field at a low frequency in the sensing area, and the EM reception module 110 operates by reading the formed magnetic field signal.

3 and 4, the outer shape of the endoscope 108 has the same shape as a long rod and a handle in the same shape as the endoscope used in the operation of the otolaryngology and neurosurgery. In addition, the EM receiving module 110 and the EM signal processor 112 are located inside the endoscope 108, and the endoscope user interface 114 is located in the handle portion. Also. 3 and 4, the endoscope 108 may be used in medical practice for otolaryngology and neurosurgery surgery in conjunction with the surgical tool 122.

The EM receiving module 110 receives the EM signal transmitted by the EM transmitting module 118 embedded in the human body model 116 and provides it to the EM signal processing unit 112.

3D printed model in the shape of a human body for otolaryngology and neurosurgery surgery of the patient, the EM transmission module 118 is embedded inside. The EM transmission module 118 transmits an EM signal. At this time, as a branch of medicine, the otolaryngology department deals with diseases of the ear (ear), nose (rain), larynx, pharynx, and head and neck, and neurosurgery (神經外科) is the brain, spinal cord, and brain nerve It is a field of surgical treatment for various diseases in the nervous system, such as the hypertrophic spinal nerve and peripheral nerves. Thus, the human body model 116 may include both the ear, nose, larynx, pharynx and otolaryngology shapes of the head and neck, and neurosurgery models such as the brain and spinal cord for otolaryngology and neurosurgery surgery.

The endoscope user interface 114 is composed of a plurality of buttons and receives various user commands, such as on/off of the endoscope, and provides it to the control device 100.

The configuration of the EM signal processing unit 112 of the otorhinolaryngology and neurosurgery medical practice simulator according to the preferred embodiment of the present invention will be described in more detail with reference to FIG. 2.

The EM signal processing unit 112 is composed of an ADC unit 200, a pre-processing unit 202, a position and angle detection unit 204, a post-processing unit 206, and a memory unit 208.

The ADC unit 200 receives the EM reception signal and processes the ADC to receive EM reception information and provides it to the pre-processing unit 202.

The pre-processing unit 202 receives the EM reception information, removes noise components, and provides the position and angle detection units 204. When the noise component removal process is further described, when the difference between the peak value of the current EM reception information and the peak value of the previous EM reception information is equal to or greater than a predetermined threshold, the current peak value is based on the previous peak value. Correction to remove noise effects.

The position and angle detection unit 204 receives the EM reception information, detects motion information including the position and angle of the endoscope 108 and provides it to the post-processing unit 206.

The post-processing unit 206 receives motion information including the position and angle of the endoscope 108 and post-processes the output. The post-processing receives motion information including the position and angle of the endoscope 108 and exceptions when the position of the endoscope 108 falls outside a predetermined area. In addition, the post-processing unit 206 limits the accumulation of errors in the position and angle information of the endoscope 108.

In the memory unit 208, information such as peak value information of the previous EM reception information and location limitation area information of the endoscope 108 is stored.

Now, the appearance of an otolaryngology and neurosurgery medical practice simulator according to a preferred embodiment of the present invention will be described with reference to FIGS. 3 and 4.

In the otolaryngology and neurosurgery medical practice simulator, the housing 150 for the main body is formed in a hexahedron shape corresponding to the height of the patient in the operating room, and the human body model 116 and the endoscope 108 of the human body are formed on the upper surface. The display device 104 is located on one side.

The endoscope portion 108 has the form of a long rod and a handle, and enters the end portion of the endoscope rod into the nasal cavity of the human body model portion 116 to change the position and angle of the endoscope end or We rotate and practice medical practice.

The position, angle, rotation direction, and rotation amount of the end of the endoscope 108 are detected from the EM reception signal received by the EM receiving module 110 installed at the end of the endoscope 108, and the detected endoscope By displaying a simulation image corresponding to the position, angle, rotational direction, and rotation amount of the end of (108), it is possible for the practitioner to practice precisely manipulating the endoscope 108 in a narrow space inside the human body.

Now, the otolaryngology and neurosurgery medical practice simulation method applicable to the otolaryngology and neurosurgery medical practice simulator will be described in detail with reference to FIG. 5.

When power on or restart is requested through the user interface 106 for the main body, the control device 100 reads the title and intro image information previously stored in the memory unit 102 and outputs it through the display device 104 By entering the standby mode to implement the guidance for the otolaryngology and neurosurgery medical practice simulator (step 300).

In the standby mode, the control device 100 performs a practitioner login through pre-registered practitioner authentication information when the practitioner requests a practitioner login through the user interface 106 for the main body (step 302). . When the login of the practitioner is performed, the control device 100 reads out the training item guide information from the memory unit 102 and outputs it through the display device 104 to guide the practitioner (step 304).

When the practitioner selects a training item based on the training item guide information (step 306), the control device 100 loads and outputs the image information corresponding to the training item from the memory unit 102 (308). Step), receiving motion information including the position and angle of the endoscope 108 from the endoscope 108, and further detecting the rotation direction and amount of rotation of the endoscope 108 based on the motion information and previous motion information When the motion information, the rotation direction and the rotation amount of the endoscope 108 are obtained, the memory 102 loads the pre-stored image information corresponding to the position, angular rotation direction and rotation of the endoscope 108 And outputting it so that medical practice simulation can be performed (steps 310 and 312).

As described above, the present invention accurately detects the position and angle, rotational direction, and amount of rotation of the endoscope for otorhinolaryngology and neurosurgery surgery, and displays a practice image linked to the detection information to effectively implement medical practice. .

In the preferred embodiment of the present invention described above, only the example applied to the simulation for otolaryngology and neurosurgery surgery can be used as a simulator for various medical practices for the human body, which is apparent to those skilled in the art by the present invention.

As described above, the technical ideas described in the embodiments of the present invention may be implemented independently of each other, or may be implemented in combination with each other. In addition, the present invention has been described through the embodiments described in the drawings and the detailed description of the invention, which is only exemplary, and those skilled in the art to which the present invention pertains may have various modifications and other equivalent embodiments It is possible. Therefore, the technical protection scope of the present invention should be defined by the appended claims.

100: control device

102: memory unit

104: display device

106: user interface unit for the main body

108: endoscopy

110: EM receiving module

112: EM signal processing unit

114: endoscope user interface

116: human body model

118: EM transmission module

The present invention allows the skilled person to master medical technology for delicately manipulating the position and angle, rotation direction, and rotation amount of the endoscope, which is required in the course of surgery while viewing the organs inside the human body by introducing the endoscope into a narrow space inside the human body. Can be applied to medical practice simulators. In particular, it is applicable to the otorhinolaryngology and neurosurgery medical practice simulators, and can be extended to expand the simulator for various medical practices for the human body.

Claims

In medical practice simulator,

A human body model unit having an external shape that follows the human body and having an EM transmission module for transmitting an EM signal therein;

An endoscope having an outer shape of a long rod and a handle inserted into the human body model, and receiving the EM signal to generate and output motion information of the end of the rod;

A display device that displays image information corresponding to the motion information and guides the trainee;

A memory unit for storing image information according to the motion information of the endoscope; And

And a control device that reads from the memory unit and outputs image information corresponding to the motion information of the endoscope obtained by receiving and processing an EM signal from the endoscope unit and outputting it through the display device.
In medical practice simulator,

A human body model unit having an external shape that follows the human body and having an EM transmission module for transmitting an EM signal therein;

An endoscope having an outer shape of a long rod and a handle inserted into the human body model, and receiving the EM signal to generate and output motion information of the end of the rod;

A display device for guiding a trainee by displaying image information corresponding to the motion information, rotation direction, and rotation amount;

A memory unit for storing image information according to the motion information of the endoscope; And

When motion information is provided from the endoscope, the rotation direction and the amount of rotation are detected in comparison with the previous motion information, and image information stored corresponding to the motion information, the rotation direction and the amount of rotation is read out from the memory unit to display the display device. Control device for outputting through; Medical practice simulator comprising a.
The method according to claim 1 or 2,

The endoscope portion,

An EM receiving module for receiving the EM signal;

And an EM signal processing unit that processes and outputs motion information including a position and an angle indicating the movement of the endoscope by processing the EM signal provided from the EM receiving module.
According to claim 3,

The EM signal processing unit,

Medical practice simulator further comprising a pre-processing unit for removing the noise component of the EM signal.
According to claim 3,

The EM signal processing unit,

When the position of the endoscope is outside the predetermined area, medical practice simulator characterized in that an exception is handled.
According to claim 3,

The human body model unit is a medical practice simulator, characterized in that the 3D printed model in the shape of a human body for otolaryngology and neurosurgery surgery.
In the medical practice simulation method,

The human body model has an external shape that follows the human body and is equipped with an EM transmission module that transmits an EM signal. Receiving motion information according to the movement of the endoscope; And

And guiding a trainee by reading and displaying image information corresponding to the motion information of the endoscope from a memory and displaying it to a trainee.
In the medical practice simulation method,

The human body model part having an external shape that follows the human body and equipped with an EM transmission module for transmitting an EM signal, has an external shape of a rod and a handle, and receives the EM signal to generate and output motion information of the endoscope from the endoscope unit. Receiving motion information according to the movement of the endoscope;

If the motion information is provided, comparing the previous motion information with the current motion information to detect a rotation direction and a rotation amount; And

A method of simulating medical practice, comprising: reading and displaying image information stored in correspondence with the motion information of the endoscope, rotational direction, and rotation amount from a memory to guide the trainee.
The method of claim 7 or 8,

A method of simulating medical practice, wherein the motion information generated by the endoscope is information on a position and an angle indicating the movement of the endoscope.
The method of claim 9,

And a pre-processing step of removing the noise component of the EM signal.
The method of claim 9,

If the position of the endoscope is outside the predetermined area, the medical practice simulation method further comprising the step of processing an exception.
The method of claim 9,

The human body model is a medical practice simulation method, characterized in that the 3D printed model in the shape of a human body for otolaryngology and neurosurgery surgery of the patient.